Processing device, processing method, and non-transitory computer-readable medium program with output image based on plurality of predetermined polarization directions and plurality of predetermined wavelength bands

1. A processing device comprising:

circuitry configured to

acquire a plurality of images captured in a time series by an image sensor, each of the plurality of images is based on light in one of a plurality of predetermined polarization directions and in one of a plurality of predetermined wavelength bands,

stitch together at least a part of the plurality of images corresponding to a single polarization direction and a single predetermined wavelength band from the plurality of predetermined wavelength bands to generate a composite image,

stitch together the plurality of images to generate a first plurality of composite images including the composite image, each of the first plurality of composite images corresponding to the one of the plurality of predetermined polarization directions and the one of the plurality of predetermined wavelength bands,

stitch together the first plurality of composite images to generate a second plurality of composite images, each of the second plurality of composite images corresponding to the one of the plurality of predetermined wavelength bands, and

generate a final output image from the second plurality of composite images.

2. The processing device according to claim 1 , wherein

the circuitry is further configured to

stitch together the plurality of images to generate a third plurality of composite images including the composite image, each of the third plurality of composite images corresponding to the one of the plurality of predetermined polarization directions and the one of the plurality of predetermined wavelength bands, and

generate a second final output image from the third plurality of composite images.

3. A processing device comprising:

circuitry configured to

acquire a plurality of images captured in a time series by an image sensor, each of the plurality of images is based on light in one of a plurality of predetermined polarization directions and in one of a plurality of predetermined wavelength bands,

stitch together at least a part of the plurality of images corresponding to a single polarization direction and a single predetermined wavelength band from the plurality of predetermined wavelength bands to generate a composite image;

a polarization parameter extraction circuitry configured to extract a polarization parameter indicating a polarization state of the light on a surface of an inspection object from one or more images of the plurality of images; and

a specular reflection component removing circuitry configured to remove a specular reflection component on the surface of the inspection object from the one or more images of the plurality of images on a basis of the polarization parameter.

4. The processing device according to claim 3 , wherein

the plurality of images is acquired from sensor elements that are adjacently arranged together,

a number of the sensor elements corresponds to a number of the plurality of predetermined polarization directions, and

the polarization parameter extraction circuitry is further configured to extract the polarization parameter on a basis of an output difference between the sensor elements.

5. The processing device according to claim 3 , further comprising:

a polarization parameter feature point detection circuitry configured to detect a feature point from the one or more images of the plurality of images,

wherein, to stitch together at least the part of the plurality of images corresponding to the single polarization direction and the single predetermined wavelength band from the plurality of predetermined wavelength bands to generate the composite image, the circuitry is further configured to stitch at least the part of the plurality of images on a basis of the feature point.

6. The processing device according to claim 5 , further comprising:

a division circuitry configured to divide the plurality of images into pluralities of divided images, each plurality of divided images is based at least in part on one of the plurality of predetermined wavelength bands.

7. The processing device according to claim 6 ,

wherein the polarization parameter extraction circuitry is further configured to control the division circuitry to divide the plurality of images into the pluralities of divided images in response to extracting the polarization parameter.

8. The processing device according to claim 6 , wherein

the division circuitry is further configured to control the polarization parameter extraction circuitry to extract the polarization parameter in response to dividing the plurality of images into the pluralities of divided images.

9. The processing device according to claim 6 , further comprising:

an analysis circuitry configured to analyze the plurality of images; and

a processing selection circuitry configured to select between a first processing of the plurality of images and a second processing of the plurality of images based on an analysis result of the analysis circuitry.

10. The processing device according to claim 9 ,

wherein, to analyze the plurality of images, the analysis circuitry is configured to

acquire a histogram of pixel values included in one image of the plurality of images that is acquired,

determine a number of pixel values in the one image that are smaller than a specific reference value,

determine whether the number of pixel values in the one image that are smaller than the specific reference value exceeds a threshold value,

responsive to determining that the number of pixel values exceeds the threshold value, the processing selection circuitry is configured to select the first processing of the plurality of images, and

responsive to determining that the number of pixel values does not exceed the threshold value, the processing selection circuitry is configured to select the second processing of the plurality of images.

11. The processing device according to claim 9 ,

wherein, in the first processing of the plurality of images, the division circuitry divides the one or more images of the plurality of images into the pluralities of divided images.

12. The processing device according to claim 9 ,

wherein, in the second processing of the plurality of images, the specular reflection component removing circuitry removes the specular reflection component from the one or more images of the plurality of images on a basis of the polarization parameter extracted by the polarization parameter extraction circuitry.

13. A method comprising:

acquiring, with a circuitry, a plurality of images captured in a time series by an image sensor, each of the plurality of images is based on light in one of a plurality of predetermined polarization directions and in one of a plurality of predetermined wavelength bands;

stitching together, with the circuitry, at least a part of the plurality of images corresponding to a single polarization direction and a single predetermined wavelength band from the plurality of predetermined wavelength bands to generate a composite image;

stitching together, with the circuitry, the plurality of images to generate a first plurality of composite images including the composite image, each of the first plurality of composite images corresponding to the one of the plurality of predetermined polarization directions and the one of the plurality of predetermined wavelength bands,

stitching together, with the circuitry, the first plurality of composite images to generate a second plurality of composite images, each of the second plurality of composite images corresponding to the one of the plurality of predetermined wavelength bands; and

generating, with the circuitry, a final output image from the second plurality of composite images.

14. A non-transitory computer-readable medium storing a program for causing an electronic processor to execute a set of operations, the set of operations comprising:

acquiring a plurality of images captured in a time series by an image sensor, each of the plurality of images is based on light in one of a plurality of predetermined polarization directions and in one of a plurality of predetermined wavelength bands;

stitching together at least a part of the plurality of images corresponding to a single polarization direction and a single predetermined wavelength band from the plurality of predetermined wavelength bands to generate a composite image;

stitching together the plurality of images to generate a first plurality of composite images including the composite image, each of the first plurality of composite images corresponding to the one of the plurality of predetermined polarization directions and the one of the plurality of predetermined wavelength bands,

stitching together the first plurality of composite images to generate a second plurality of composite images, each of the second plurality of composite images corresponding to the one of the plurality of predetermined wavelength bands; and

generating a final output image from the second plurality of composite images.

15. A non-transitory computer-readable medium storing a program for causing an electronic processor to execute a set of operations, the set of operations comprising:

acquiring a plurality of images captured in a time series by an image sensor, each of the plurality of images is based on light in one of a plurality of predetermined polarization directions and in one of a plurality of predetermined wavelength bands;

stitching together at least a part of the plurality of images corresponding to a single polarization direction and a single predetermined wavelength band from the plurality of predetermined wavelength bands to generate a composite image;

extracting a polarization parameter indicating a polarization state of the light on a surface of an inspection object from one or more images of the plurality of images; and

removing a specular reflection component on the surface of the inspection object from the one or more images of the plurality of images on a basis of the polarization parameter.

16. A method comprising:

acquiring, with a circuitry, a plurality of images captured in a time series by an image sensor, each of the plurality of images is based on light in one of a plurality of predetermined polarization directions and in one of a plurality of predetermined wavelength bands;

stitching together, with the circuitry, at least a part of the plurality of images corresponding to a single polarization direction and a single predetermined wavelength band from the plurality of predetermined wavelength bands to generate a composite image;

extracting, with a polarization parameter extraction circuitry, a polarization parameter indicating a polarization state of the light on a surface of an inspection object from one or more images of the plurality of images; and

removing, with a specular reflection component removing circuitry, a specular reflection component on the surface of the inspection object from the one or more images of the plurality of images on a basis of the polarization parameter.

17. The method according to claim 16 , further comprising:

detecting, with a polarization parameter feature point detection circuitry, a feature point from the one or more images of the plurality of images,

wherein stitching together at least the part of the plurality of images corresponding to the single polarization direction and the single predetermined wavelength band from the plurality of predetermined wavelength bands to generate the composite image further includes stitching at least the part of the plurality of images on a basis of the feature point.

18. The method according to claim 17 , further comprising:

dividing, with a division circuitry, the plurality of images into pluralities of divided images, each plurality of divided images is based at least in part on one of the plurality of predetermined wavelength bands.

19. The method according to claim 18 , further comprising:

analyzing, with an analysis circuitry, the plurality of images; and

selecting, with a processing selection circuitry, a first processing of the plurality of images or a second processing of the plurality of images based on an analysis result of the analysis circuitry.

20. The method according to claim 19 ,

wherein analyzing, with the analysis circuitry, the plurality of images further includes

acquiring a histogram of pixel values included in one image of the plurality of images that is acquired,

determining a number of pixel values in the one image that are smaller than a specific reference value,

determining whether the number of pixel values in the one image that are smaller than the specific reference value exceeds a threshold value,

responsive to determining that the number of pixel values exceeds the threshold value, selecting the first processing of the plurality of images, and

responsive to determining that the number of pixel values does not exceed the threshold value, selecting the second processing of the plurality of images.